Computer Program Product Robot and Method for Controlling a Robot

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This patent describes a method, robot system, and computer program for reliably and safely controlling robots, especially in environments where humans and robots work together (human-robot collaboration, HRC). The invention detects force or torque at the robot's end-effector by comparing expected (modeled) and measured force values. If a difference greater than a calculated tolerance is detected, the system immediately switches the robot into a safe state, preventing harm or damage. This approach eliminates the need for expensive redundant safety sensors by using analytical redundancy based on position, speed, and model-based calculations.

Use CasesContent extracted from patent full text and abstract with AI.

• Industrial robots collaborating with human workers on assembly lines
• Robotic arms in medical environments, such as surgical assistance or rehabilitation
• Service robots interacting physically with people (e.g., delivering items, assisting the elderly)
• Cobots (collaborative robots) handling tasks such as packaging, material handling, or pick-and-place near humans
• Educational or laboratory robots requiring safety in shared spaces

BenefitsContent extracted from patent full text and abstract with AI.

• Improves safety in human-robot collaborative environments by quickly detecting force anomalies or sensor failures and placing robots into a safe state.
• Reduces hardware costs by minimizing the need for functionally redundant (dual-channel) force or torque sensors.
• Enables easier and less intrusive integration into existing robot systems since it relies on software and existing sensors rather than major hardware changes.
• Increases reliability through model-based analytical redundancy, improving sensitivity to unsafe conditions or faulty measurements.
• Enhances flexibility by allowing safe operation in various industrial, medical, or domestic situations.
• Supports compliance with safety standards for collaborative robotics (e.g., ISO 10218, ISO/TS 15066) without excessive hardware overhead.

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Patent Abstract

Verfahren zum Steuern eines Roboters (10) aufweisend zumindest einen Endeffektor (14), insbesondere im Bereich der Mensch-Roboter-Kollaborationen, mit den Schritten:a) Ermitteln (S302) eines Kraft-Erwartungs-Werts (M(q) q̈ + C(q, q̇) + g(q) - τR) an dem Endeffektor (14) oder in Bezug auf diesen in Abhängigkeit einer gemessenen Ist-Position q des Endeffektors (14) oder sonstigen Teilen (18) des Roboters (10),b) Messen (S304) eines Kraft-Ist-Werts τm an dem Endeffektor (14) oder in Bezug auf diesen,c) Bilden (S306) einer Differenz aus dem Kraft-Erwartungs-Wert (M(q)q¨+C(q,q̇)+g(q)-τR) und dem Kraft-Ist-Wert τm, undd) Überführen (S308) des Endeffektors (14) in einen sicheren Zustand in Abhängigkeit der Differenz und eines ermittelten Toleranzwerts τF,max,wobei der Toleranzwert τF,max vor Schritt a) ermittelt wird (S300) und geeignet ist, einen Fehler bei der Messung des Kraft-Ist-Werts τm zu detektieren.Somit kann auf eine funktional sichere, insbesondere redundante Messung des Kraft-Ist-Werts verzichtet werden.